カメラを用いた倒立振子型パーソナルトランスポータの追従制御

抄録

In recent years, the demand of Personal Transporter(PT) is rising because of high demand for short-distance transportation and increasing the awareness of environmental protection. Among them, the inverted pendulum type personal transporter which runs independently on two wheels, is increasingly being used for airport security, transportation in tourist spots, and so on. In case of the PT is used for vehicle sharing, there is a problem that it requires personnel and labor to carry multiple PTs parked at the PT station. In such situations, required manpower and labor can be saved by driving the leading PT and the following PT run in an automatic platooning. The purpose of this study is to construct the platooning system for PT by using optimal control, tracking control, and self-localization by visual SLAM. This paper reports feasibility of the platooning system including turning control and asseses the stability and following performance of the platooning system.